Computational approaches for improving the performance of path tracking controllers for mobile robots

@article{Cheen2015ComputationalAF,
  title={Computational approaches for improving the performance of path tracking controllers for mobile robots},
  author={Fernando Alfredo Auat Chee{\'i}n and Saso Blazic and Miguel Torres-Torriti},
  journal={2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2015},
  pages={6495-6500}
}
Performance of path tracking controllers for mobile robots is usually constrained to the tuning of a set of gains within previously known boundaries. In industrial applications, controller tuning is a time consuming task, which is especially critical when the gain values have a considerable impact on the use of the robot's energy resources. In this paper, we propose a set of approaches to automatically improve the performance of well-known path tracking controllers used for agricultural… CONTINUE READING